Modeling and Robust Attitude Controller Design for a Small Size Helicopter
This work addresses attitude control for small UAVs, which is incremental as it builds on existing methods with specific experimental validation.
The paper tackled the problem of designing a robust attitude controller for a small-size unmanned helicopter by proposing a new control law combining nonlinear and model-free methods, and demonstrated its effectiveness and robustness in experiments involving wind gusts and ground effects on a real platform.
This paper addresses the design and application controller for a small-size unmanned aerial vehicle (UAV). In this work, the main objective is to study the modeling and attitude controller design for a small size helicopter. Based on a non-simplified helicopter model, a new robust attitude control law, which is combined with a nonlinear control method and a model-free method, is proposed in this paper. Both wind gust and ground effect phenomena conditions are involved in this experiment and the result on a real helicopter platform demonstrates the effectiveness of the proposed control algorithm and robustness of its resultant controller.